Research on airport surface modeling and path planning algorithm based on CTPN

In view of the dynamic property and concurrency of the airport surface traffic system, the Airport Surface Petri Nets (ASPN) was modeled with Colored Timed Petri nets (CTPN). The constraint conditions of ASPN are built according to the airport surface control roles. The optimal path planning was achieved by using the evolvement of Petri nets states with time parameter. The problem of finding the optimal path for several aircraft synchronously running has translated into finding the optimal path for an aircraft separately with dynamic obstacle. So the complexity of the system has reduced. By using this method, the shortest time path for each aircraft can be found while reducing collision. This paper built ASPN model for an internal airport and designed a simulation program. Simulation results indicate that this method can achieve a good effect to deal with large scale airports with more aircraft.